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Timestamp conversion fix for SLAM #99

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Timestamp conversion fix for SLAM #99

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2dd7e72
Update orb_slam.cpp
geoeo Dec 27, 2023
4e723bc
Update ov2_slam.cpp
geoeo Dec 27, 2023
e67f38a
Update ov2_slam.cpp
geoeo Dec 27, 2023
422d18b
Update orb_slam.cpp
geoeo Dec 27, 2023
d9dabea
Update open_vslam.cpp
geoeo Dec 27, 2023
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4 changes: 2 additions & 2 deletions modules/realm_vslam/realm_vslam_base/src/open_vslam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ VisualSlamIF::State OpenVslam::track(Frame::Ptr &frame, const cv::Mat &T_c2w_ini
std::shared_ptr<openvslam::Mat44_t> T_w2c_eigen;
if (T_c2w_initial.empty())
{
T_w2c_eigen = m_vslam->feed_monocular_frame(frame->getResizedImageRaw(), frame->getTimestamp() * 10e-9);
T_w2c_eigen = m_vslam->feed_monocular_frame(frame->getResizedImageRaw(), frame->getTimestamp() * 1e-9);

if (T_w2c_eigen != nullptr)
T_w2c = convertToCv(*T_w2c_eigen);
Expand Down Expand Up @@ -353,4 +353,4 @@ void OpenVslam::updateKeyframes()
}
}
LOG_F(INFO, "Timing [Update KFs]: %lu ms", Timer::getCurrentTimeMilliseconds()-t);
}
}
6 changes: 3 additions & 3 deletions modules/realm_vslam/realm_vslam_base/src/orb_slam.cpp
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Expand Up @@ -29,8 +29,8 @@ OrbSlam::OrbSlam(const VisualSlamSettings::Ptr &vslam_set, const CameraSettings:
cam.K = K_32f;
cam.distCoeffs = dist_coeffs_32f;
cam.fps = (*cam_set)["fps"].toFloat();
cam.width = (*cam_set)["width"].toInt();
cam.height = (*cam_set)["height"].toInt();
cam.width = static_cast<int>((*cam_set)["width"].toInt() * m_resizing);
cam.height = static_cast<int>((*cam_set)["height"].toInt() * m_resizing);
cam.isRGB = false; // BGR

ORB_SLAM::OrbParameters orb{};
Expand Down Expand Up @@ -86,7 +86,7 @@ VisualSlamIF::State OrbSlam::track(Frame::Ptr &frame, const cv::Mat &T_c2w_initi
// Set image resizing accoring to settings
frame->setImageResizeFactor(m_resizing);

double timestamp = static_cast<double>(frame->getTimestamp() - m_timestamp_reference)/10e3;
double timestamp = static_cast<double>(frame->getTimestamp() - m_timestamp_reference)/1e9;
LOG_IF_F(INFO, true, "Time elapsed since first frame: %4.2f [s]", timestamp);

// ORB SLAM returns a transformation from the world to the camera frame (T_w2c). In case we provide an initial guess
Expand Down
14 changes: 7 additions & 7 deletions modules/realm_vslam/realm_vslam_base/src/ov2_slam.cpp
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Expand Up @@ -68,12 +68,12 @@ Ov2Slam::Ov2Slam(const VisualSlamSettings::Ptr &vslam_set, const CameraSettings:
m_slam_params->do_full_ba_ = (*vslam_set)["do_full_ba"].toInt() > 0;

m_slam_params->cam_left_model_ = "pinhole";
m_slam_params->img_left_w_ = (*cam_set)["width"].toDouble();
m_slam_params->img_left_h_ = (*cam_set)["height"].toDouble();
m_slam_params->fxl_ = (*cam_set)["fx"].toDouble();
m_slam_params->fyl_ = (*cam_set)["fy"].toDouble();
m_slam_params->cxl_ = (*cam_set)["cx"].toDouble();
m_slam_params->cyl_ = (*cam_set)["cy"].toDouble();
m_slam_params->img_left_w_ = (*cam_set)["width"].toDouble()*static_cast<double>(m_resizing);;
m_slam_params->img_left_h_ = (*cam_set)["height"].toDouble()*static_cast<double>(m_resizing);;
m_slam_params->fxl_ = (*cam_set)["fx"].toDouble()*static_cast<double>(m_resizing);
m_slam_params->fyl_ = (*cam_set)["fy"].toDouble()*static_cast<double>(m_resizing);;
m_slam_params->cxl_ = (*cam_set)["cx"].toDouble()*static_cast<double>(m_resizing);;
m_slam_params->cyl_ = (*cam_set)["cy"].toDouble()*static_cast<double>(m_resizing);;
m_slam_params->k1l_ = (*cam_set)["k1"].toDouble();
m_slam_params->k2l_ = (*cam_set)["k2"].toDouble();
m_slam_params->p1l_ = (*cam_set)["p1"].toDouble();
Expand Down Expand Up @@ -106,7 +106,7 @@ VisualSlamIF::State Ov2Slam::track(Frame::Ptr &frame, const cv::Mat &T_c2w_initi
// Set image resizing accoring to settings
frame->setImageResizeFactor(m_resizing);

const double timestamp = static_cast<double>(frame->getTimestamp())/10e3;
const double timestamp = static_cast<double>(frame->getTimestamp())/1e9;
LOG_IF_F(INFO, true, "Time stamp of frame: %4.2f [s]", timestamp);

cv::Mat img = frame->getResizedImageRaw();
Expand Down